Moveit2 Tutorial 1

Launch Moveit 2

Open a new terminal and run:

xhost +local:docker

docker run -it --net=host --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" -e LIBGL_ALWAYS_SOFTWARE=1 moveit/moveit2:main-jazzy-tutorial-source

Launch the demo

ros2 launch moveit2_tutorials demo.launch.py

You will see the RViz interface:

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Under "Displays" panel (top-left) , find "MotionPlanning", expand it.

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Under the same tree, find "Planning Request", then "Planning Group", change it to "manipulator"

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You will see the robot change to this:
Try to move the robotic arm with mouse cursor, and also try to rotate the circle rings.

Moving Joints

Check the Show Robot Visual checkbox in the Planned Path tree menu
Check the Query Goal State checkbox in the Planning Request tree menu.
Go to "Joints" tab of MotionPlanning, then try to change the joint values.

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Motion Planning

Now, you can start motion planning with the Kinova Gen 3 in the MoveIt RViz Plugin.
- Move the Start State to a desired location.
- Move the Goal State to another desired location.
- Make sure both states are not in collision with the robot itself.
- Un-check the Show Trail checkbox in the Planned Path tree menu.
In the MotionPlanning window under the Planning tab, press the Plan button.
Check the Show Trail checkbox in the Planned Path tree menu. You should see the arm’s path represented by a series of manipulator poses.

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Introspecting Trajectory Waypoints

You can visually introspect trajectories point by point in RViz.

From “Panels” menu, select “Trajectory - Trajectory Slider”. You’ll see a new Slider panel on RViz.
Set your goal pose, then run Plan.
Play with the “Slider” panel, e.g. move the slider, push “Play” button.

Note: Once you placed your end-effector to a new goal, be sure to run Plan before running Play – otherwise you’ll see the waypoints for the previous goal if available.

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Plan Cartesian motions

If the “Use Cartesian Path” checkbox is activated, the robot will attempt to move the end effector linearly in cartesian space.
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Executing Trajectories, Adjusting Speed

Clicking “Plan & Execute” or “Execute” after a successful plan will send the trajectory to the robot - in this tutorial, since you used kinova_demo.launch, the robot is only simulated.

Initially, the default velocity and acceleration are scaled to 10% (0.1) of the robot’s maximum. You can change these scaling factors in the Planning tab shown below, or change these default values in the moveit_config of your robot (in joint_limits.yaml).

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Go to Tutorial 2

Reference : MoveIt Quickstart in RViz — MoveIt Documentation: Rolling documentation